Robotic de-icer

ABSTRACT

An apparatus for de-icing a pathway, the apparatus comprising a frame including a set of wheels, a salt dispenser, a servo attached to the salt dispenser, one or more motors, the motors attached to at least one of the set of wheels, and a microcontroller communicatively coupled to the servo and the one or more motors, wherein the microcontroller instructs the servo to operate the salt dispenser and activates the one or more motors to drive the at least one of the set of wheels.

COPYRIGHT NOTICE

A portion of the disclosure of this patent document contains material,which is subject to copyright protection. The copyright owner has noobjection to the facsimile reproduction by anyone of the patent documentor the patent disclosure, as it appears in the Patent and TrademarkOffice patent files or records, but otherwise reserves all copyrightrights whatsoever.

BACKGROUND OF THE INVENTION FIELD OF THE INVENTION

This application generally relates to a robotic de-icer capable ofautomatically dispensing salt on an icy surface.

DESCRIPTION OF THE RELATED ART

Injuries and deaths caused by slipping on ice on sidewalks and drivewaysis a growing concern during the wintertime. In fact, 42,480 workinjuries involved ice, sleet, or snow in 2014, and accidental falls arethe second most common cause of death from unintentional injuries aftervehicle collisions (Bureau of Labor Statistics). Following a snowstorm,a homeowner must clear their driveway of snow, and then, they must meltthe ice covering their driveway through a salting process. Homeownersmust clear their driveway of snow, and then, they must melt the icecovering their driveway through a salting process after snowfall orrainfall followed by below-freezing temperatures that freezes the raininto ice.

Salting a driveway and/or pathway is a bothersome and dangerousundertaking that millions of Americans must undertake every year, oftenmultiple times in a year. Current methods of salting a driveway areinefficient and even dangerous. Salting a driveway often includesserious injuries or even death, and even if the homeowner elects tocommission this task to workers, the driveway is ultimately handledmanually.

There are existing products that can be used for salting driveways, suchas hopper spreaders. A hopper spreader is a mechanized salt spreaderunit that can be connected to a back of a vehicle so that a user cansalt the ice while driving. However, salting a driveway with a hopperspreader may be cumbersome or impossible if the driveway is not bigenough to drive around. Another shortcoming of the hopper spreader isthat it requires the user to get in their vehicle and drive aroundpouring salt.

There is thus a need for a device for salting driveways and other spaceswithout manual intervention or maneuvering of a vehicle around.

SUMMARY OF THE INVENTION

The present invention provides an apparatus for de-icing a pathway.According to one embodiment, the apparatus comprises a frame including aset of wheels, a salt dispenser, a servo attached to the salt dispenser,one or more motors, the motors attached to at least one of the set ofwheels, and a microcontroller communicatively coupled to the servo andthe one or more motors, wherein the microcontroller instructs the servoto operate the salt dispenser and activates the one or more motors todrive the at least one of the set of wheels.

The microcontroller may instruct the servo to dispense salt from thesalt dispenser at variable intervals or times. The microcontroller mayalso instruct the servo to release salt from the salt dispenser at oneor more angles or rotations. Dimensional inputs of the pathway may bereceived by the microcontroller and may be used to program the servo andthe one or more motors based on the dimensional inputs. In anotherembodiment, the apparatus may further comprise one or more sensors thatdetect dimensions of the pathway. Alternatively, the microcontroller mayreceive dimensional inputs of the pathway from a global positioningsystem.

The microcontroller may be programmed to operate the servo and the oneor more motors at a given start time. The microcontroller may receiveinstructions from an application controlled via a mobile device. Theapplication may determine a given start time to operate the servo andthe one or more motors based on weather information.

According to one embodiment, a robot system comprises at least onesensor configured to provide locating information and at least twomotors. A first of the at least two motors is configured for anoperational function and a second of the at least two motors isconfigured for movement. The system also includes a processorcommunicatively coupled to the at least two motors and the at least onesensor and a memory having executable instructions stored thereon. Whenexecuted by the processor the executable instructions cause theprocessor to receive the locating information from the at least onesensor, determine a position of the robot system in an area based on thelocating information, generate function path information based on theposition, and control the at least two motors based on the function pathinformation and the position.

The processor is further operable to determine the position based on anactual position on a stored map. The stored map may include at least onefunction task associated with at least one area segment. The processormay further generate an updated map based on a detection of an obstacle.The locating information may include at least one of laser data, sonardata, odometry data, gyroscope data, and global positioning system data.

In another embodiment, the processor may detect obstacles in a path ofthe robot system. The processor may alter operation of the at least twomotors based on the detection of obstacles and generate a new functionpath. The at least one sensor may comprise an obstacle detecting deviceincluding one or more lasers and a camera device. The processor may alsobe configured to receive information associated with artificial markers,the information including features associated with the artificialmarkers and instructions associated with the features and control the atleast two motors based on the instructions. The processor may furtherdetect placement of light beams within the area and generate a newfunction path the prohibits the robot system from passing through thelight beams. In another embodiment, the processor may receiveinstructions from a client device, and control the at least two motorsbased on the instructions.

In other embodiments, the robot system described herein may beconfigured to drop other materials onto a path or roadway. As oneexample, the robot system as described herein may be used to drop seedon a field or lawn for the automated planting of grass or crops.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention is illustrated in the figures of the accompanying drawingswhich are meant to be exemplary and not limiting, in which likereferences are intended to refer to like or corresponding parts.

FIG. 1 illustrates exemplary components of a robotic de-icer accordingto one embodiment of the present invention.

FIG. 2 illustrates exemplary code for a robotic de-icer according to oneembodiment of the present invention.

FIG. 3 illustrates a schematic diagram of a robotic de-icer according toan embodiment of the present invention.

FIG. 4 illustrated a block diagram of a robot system for dropping saltaccording to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

Subject matter will now be described more fully hereinafter withreference to the accompanying drawings, which form a part hereof, andwhich show, by way of illustration, exemplary embodiments in which theinvention may be practiced. Subject matter may, however, be embodied ina variety of different forms and, therefore, covered or claimed subjectmatter is intended to be construed as not being limited to any exampleembodiments set forth herein; example embodiments are provided merely tobe illustrative. It is to be understood that other embodiments may beutilized and structural changes may be made without departing from thescope of the present invention. Likewise, a reasonably broad scope forclaimed or covered subject matter is intended. Throughout thespecification and claims, terms may have nuanced meanings suggested orimplied in context beyond an explicitly stated meaning. Likewise, thephrase “in one embodiment” as used herein does not necessarily refer tothe same embodiment and the phrase “in another embodiment” as usedherein does not necessarily refer to a different embodiment. It isintended, for example, that claimed subject matter include combinationsof exemplary embodiments in whole or in part. Among other things, forexample, subject matter may be embodied as methods, devices, components,or systems. Accordingly, embodiments may, for example, take the form ofhardware, software, firmware or any combination thereof (other thansoftware per se). The following detailed description is, therefore, notintended to be taken in a limiting sense.

The present application discloses robot systems that may be programmedto automatically perform tasks. According to one embodiment, a robotsystem comprises a robotic de-icer (“RDI”) that can be programmed forautomatically salting and de-icing surfaces, such as driveways, roadsand other defined areas. The RDI may comprise driving motors, a servo,four wheels, and a microcontroller device (or processor) that allow itto travel over a designated area or pathway. The RDI may comprise two ormore driving motors and four wheels incorporated into a, for example,9.5″ by 6.5″ metal frame. The driving motors may be connected to themicrocontroller, such as an Arduino microcontroller, via wires andresistors. The robot system may further comprise an obstacle detectingdevice in the form of a sensor comprising one or more lasers, which maybe horizontal or vertical line lasers, and a camera device.

The microcontroller may be configured to control the driving motors andthe servo simultaneously. For example, the microcontroller of the RDImay execute code that causes the driving motors and a servo to rotate asneeded to allow the RDI to move and the salt to be dispensed. Thedriving motors may be connected to wheels on opposing sides and causethe wheels to spin. A salt dispenser may be linked with the servo thatcontinuously rotates to allow the release of salt from its designatedcompartment. The microcontroller may be programmed with code andadjusted to accommodate specific dimensions of a surface requiringsalting.

The disclosed robot systems may comprise stand-alone systems, forexample, that is mobile, that perform both physical activities andcomputational activities. The physical activities may be performed usinga wide variety of movable parts. The computational activities may beperformed utilizing a suitable processor and memory stores, e.g., a datamemory storage device. The computational activities may includeprocessing information input from various sensors or other inputs of arobot system to perform functions.

FIG. 1 present exemplary components of a robotic de-icer according toone embodiment of the present invention. Direct current gear motor 102may be used to facilitate movement of RDI 100. RDI 100 may also includemetal beams 104 to support a chassis. Servo 106, e.g., a SG90 MicroServo Motor, may be used as part of the salt dispensing mechanism on RDI100 that dispenses salt at variable intervals or times, whilerestricting the salt from falling at other times. Microcontroller 108may be programmed to control the hardware aspects of the RDI 100including motor 102, and servo 106.

FIG. 2 presents exemplary code for a robotic de-icer according to oneembodiment of the present invention. The exemplary code may cause theRDI to drive down a path and pour salt by operating the driving motorsand the servo simultaneously. The illustrated code may begin a loop byoperating a servo to release salt at various angles or rotations. Thenthe code can proceed to command the driving motors of the RDI to driveforward for a predetermined amount of time, pause, and then restart theloop.

Based on the dimensions of a pathway, the motors and servo can beprogrammed for a specific amount of time (which may be inputted into thecode), allowing the RDI to travel along a designated area or pathway,while periodically dispensing salt. The microcontroller may receivedimensional inputs for the RDI to move along the designated area andbegin dispensing salt. For example, the dimensional inputs may be usedto map the pathway for the RDI to navigate and traverse. According toone embodiment, to allow the RDI to turn, the microcontroller may stopone of two motors that are connected laterally on opposite sides of theRDI (so that only one motor is activated). This technique may allow theRDI to turn in either direction where the direction is based on whichmotor is deactivated.

FIG. 3 presents a schematic diagram of a robotic de-icer according to anembodiment of the present invention. Microcontroller 302 may transmitsignals to components of the RDI. The microcontroller 302 can controlmotors 306 and 308 that are connected to wheels. Servo 304 is connectedto the 5V pin, digital pin 11, and ground pin of the microcontroller302. Battery 310 connects to the ground pin of microcontroller 302 andto the positive sides of both motors 306 and 308. Transistors 312 and314 use diodes 316 and 318, respectively, to connect to the ground sideof the motors 306 and 308. The motor 306 is linked to pin D9 and motor308 is linked to pin D10 on the microcontroller 302. The transistorsfurther connected to the ground pin of microcontroller 302.

The RDI may be used on an icy driveway that requires salting. A user mayinput dimensions of the driveway or pathway that they want salted intoan RDI interface and fill the salt compartment with salt. Alternatively,RDI may include sensors to detect the dimensions of a pathway and/orreceive GPS (Global Positioning System) information and coordinates formapping areas of operation. The RDI may be operated or instructed by anintegrated application that can be controlled via a mobile device. Theapplication may allow the user to set a start time for the RDI to begin.

The application may allow for programming the RDI to operate accordingto dimensional parameters for one or more designated areas or pathwaysand set on a timer or scheduler, where users may have more than onedriveway or area that they want de-iced. After selecting a start timeand the designated area, the application may also determine anestimation of when the job will be completed by, to allow for betterplanning. The estimate may be based on, for example, a total distancethe RDI is programmed to traverse. In another embodiment, the integratedapplication may be configured to operate in conjunction with a weatherapplication or weather data source that allows the integratedapplication to predict when the pathways will be icy, and to recommendto the user via a mobile notification when he or she should set theRDI's timing to. This allows the user to have peace of mind, restingassured that if the pathway will need salting the next day, he or shewill be notified in advance and easily set up the RDI to salt thepathway the next day with ease.

According to other embodiments, the disclosed robot systems may beconfigured for performing tasks of other appliances, such as automaticlawn mowers, leaf blowers, or agricultural machinery for tasks, such asseed dropping, digging, crop picking, irrigation, chemical spraying,etc. In accordance with one embodiment, the robot system may beprogrammed with a stored map of an area layout, the stored map having atleast one function task associated with at least one area segment. Therobot system may determine its position in the area and determine afunction path from its position for navigation of the area andcompletion of the at least one function task. An area may include atwo-dimensional plot or a three-dimensional space, for example.Accordingly, an area may be mapped utilizing coordinates in the X and Yaxis, or using coordinates in the X, Y and Z axis.

Furthermore, the robot system may create updated maps of an area layoutwhen obstacles are detected in the area layout. When detected, theobstacles can be added to an amended map of the area layout. If therobot system subsequently detects that the obstacle was removed, therobot system may create another amended map that removed the obstacle.The robot system or an application interface may create an amended mapupon detections of obstacles. Accordingly, the robot system couldreceive data and input relating to obstacles in the environment as wellas locations of beacons relative to those obstacles. In anotherembodiment, a user may edit a stored map and change the nature of mappedboundaries in an area layout.

FIG. 4 presents a data flow diagram of a computing system according toan embodiment of the present invention. Robot systems disclosed hereinmay include a processor 400 that includes logic for monitoring andcontrolling various navigational aspects of the robot system. Processor400 may also determine the position of the robot system in an area andcontrol navigation of the robot system to different positions in thearea and along a function path. Processor 400 may comprise path module410, motion controller 420, and positioning module 430.

The positioning module 430 may gather a variety of locating informationfrom sensors 402. For example, sensors 402 may provide information, suchas laser data, sonar data, odometry data, gyroscope data, GPS data,pre-stored maps data, and x-y position system. In one embodiment, thepositioning module 430 may access a stored map of an area layout inwhich the robot system has been commanded to perform a function. Thepositioning module 430 may assess the robot system's position in thearea and associate that position with an actual position on the storedmap.

Path module 410 may determine a function path for the robot system tocomplete its assigned function and tasks using the current position andthe actual position on the stored map. The path module 410 may generatea path of travel for traveling from a current position of the robotsystem. Any algorithm or logic may be utilized by the path module 410 togenerate such a desired path of travel. According to one embodiment, thepath module 410 may utilize stored pre-determined function paths forgiven areas to complete assigned function tasks.

The motion controller 420 may use the path information generated by thepath module 410, as well as the position information from thepositioning module 430, to control motor(s) 404 of the robot system tomove along a given function path. Motor(s) 404 may include motors, forexample, at least one for movement and at least one for operationalfunction of the robot system (e.g., salting, spraying, dropping,brushing, cleaning, digging, etc.). Positioning module 430 may alsodetect obstacles in the planned path of the robot system while the robotsystem is moving along the path. When an obstacle is detected, thepositioning module 430 may communicate with motion controller 420 (e.g.,communicate with motor(s) 404 to stop or alter the robot system'smovement and operation) and path module 410 (e.g., to generate a newpath to avoid the obstacle).

According to another embodiment, navigation and positioning of the robotsystem may be aided by using artificial markers or landmarks. Forexample, machine learning may be implemented to train the robot systemto navigate certain area layouts. A training phase of the robot systemmay comprise providing information regarding markers to the robotsystem. The information may include a feature associated with eachmarker and instructions associated with each feature. After the trainingphase, the robot system may autonomously move and operate, recognizingmarkers and attaining their features. The robot system operation andmovement may be controlled according to the instructions assigned to thefeatures. Further description and details of using markers may be foundin U.S. Pat. No. 10,209,080, entitled “ROBOTIC CLEANING DEVICE” which isherein incorporated by reference in its entirety.

In yet another embodiment, the robot system may detect the placement oflight beams within an area layout. Sensors 402 may include detectorsthat are operative to detect a force field or a collimated light beam.The robot system may be programmed (e.g., a new function path) to notpass through the collimated beam to prevent the robot system fromentering prohibited areas, e.g., access to a descending staircase,roadway, or other boundary. Alternatively, a user may remotely controlthe robot system, e.g., via a controller, client device, or a smartphone, to manually move or control functional operation of the robotsystem. The processor 400 may receive remote control instructions andtransmit the instructions to positioning module 430 to control themotor(s) 404. In one embodiment, the robot system may receive weatherinformation via communication means and the function task of the robotsystem may be adapted accordingly, based on the weather information. Theweather information can be transferred from an external location (e.g.weather forecast provider) via communication means (e.g. Internet,wireless) to the robot system.

To allow for even more practicality and energy efficiency, anotherembodiment may include automated charging. The robot system may becomplimented with docking station or shed on the side of the pathwaywhen it's not in use. Inside the docking station, a magnetic charger orcharger contacts may be configured to accept the robot system. The robotsystem may be programmed to automatically locate and return to thestation when not in use, low on battery operation, or is finished with atask. The charger may receive power to charge the robot system via solarpanels attached on the roof of the docking station or through a walloutlet. After the robot system is charged fully, it may automaticallystop charging to eliminate the risk of overcharging and damaging thebattery or causing other related issues. If, for some reason, thebattery reaches low levels, e.g., due to a malfunction in the charger orwiring, a notification may be sent to the user's mobile device via anapplication to allow for troubleshooting and repairing.

Another feature for the robot system may include automatic saltrefilling according to another embodiment. The docking station or shedof the robot system may include a compartment that can be filled withsalt and may have a servo motor that allows salt from the compartment totravel into the robot system's salt compartment when docked or charging.A weight sensor under the compartment may be used to determine whetherthe robot system is filled with salt. When the weight of the robotsystem reaches are certain value, the shed may cease to flow salt intothe robot system's compartment. Similarly, the robot system may furtherinclude a weight sensor where if the robot system is in the middle ofoperation and dips below a certain weight, it may travel back to thedocket station to refill and then continue where it left off. The docketstation may also include a weight sensor to determine an amount of saltleft and may transmit a notification to the owner's mobile device viathe application, telling him or her to refill the docking station's saltsupply.

FIGS. 1 through 4 are conceptual illustrations allowing for anexplanation of the present invention. Notably, the figures and examplesabove are not meant to limit the scope of the present invention to asingle embodiment, as other embodiments are possible by way ofinterchange of some or all of the described or illustrated elements.Moreover, where certain elements of the present invention can bepartially or fully implemented using known components, only thoseportions of such known components that are necessary for anunderstanding of the present invention are described, and detaileddescriptions of other portions of such known components are omitted soas not to obscure the invention. In the present specification, anembodiment showing a singular component should not necessarily belimited to other embodiments including a plurality of the samecomponent, and vice-versa, unless explicitly stated otherwise herein.Moreover, applicants do not intend for any term in the specification orclaims to be ascribed an uncommon or special meaning unless explicitlyset forth as such. Further, the present invention encompasses presentand future known equivalents to the known components referred to hereinby way of illustration.

It should be understood that various aspects of the embodiments of thepresent invention could be implemented in hardware, firmware, software,or combinations thereof. In such embodiments, the various componentsand/or steps would be implemented in hardware, firmware, and/or softwareto perform the functions of the present invention. That is, the samepiece of hardware, firmware, or module of software could perform one ormore of the illustrated blocks (e.g., components or steps). In softwareimplementations, computer software (e.g., programs or otherinstructions) and/or data is stored on a machine-readable medium as partof a computer program product and is loaded into a computer system orother device or machine via a removable storage drive, hard drive, orcommunications interface. Computer programs (also called computercontrol logic or computer-readable program code) are stored in a mainand/or secondary memory, and executed by one or more processors(controllers, or the like) to cause the one or more processors toperform the functions of the invention as described herein. In thisdocument, the terms “machine readable medium,” “computer-readablemedium,” “computer program medium,” and “computer usable medium” areused to generally refer to media such as a random access memory (RAM); aread only memory (ROM); a removable storage unit (e.g., a magnetic oroptical disc, flash memory device, or the like); a hard disk; or thelike.

The foregoing description of the specific embodiments will so fullyreveal the general nature of the invention that others can, by applyingknowledge within the skill of the relevant art(s) (including thecontents of the documents cited and incorporated by reference herein),readily modify and/or adapt for various applications such specificembodiments, without undue experimentation, without departing from thegeneral concept of the present invention. Such adaptations andmodifications are therefore intended to be within the meaning and rangeof equivalents of the disclosed embodiments, based on the teaching andguidance presented herein. It is to be understood that the phraseologyor terminology herein is for the purpose of description and not oflimitation, such that the terminology or phraseology of the presentspecification is to be interpreted by the skilled artisan in light ofthe teachings and guidance presented herein, in combination with theknowledge of one skilled in the relevant art(s).

What is claimed is:
 1. An apparatus for de-icing a pathway, theapparatus comprising: a frame including: a set of wheels; a saltdispenser; a servo attached to the salt dispenser; one or more motors,the motors attached to at least one of the set of wheels; and amicrocontroller communicatively coupled to the servo and the one or moremotors, wherein the microcontroller instructs the servo to operate thesalt dispenser and activates the one or more motors to drive the atleast one of the set of wheels.
 2. The apparatus of claim 1 wherein themicrocontroller instructs the servo to dispense salt from the saltdispenser at variable intervals or times.
 3. The apparatus of claim 2wherein the microcontroller instructs the servo to release salt from thesalt dispenser at one or more angles or rotations.
 4. The apparatus ofclaim 1 wherein the microcontroller receives dimensional inputs of thepathway and programs the servo and the one or more motors based on thedimensional inputs.
 5. The apparatus of claim 4 further comprising oneor more sensors that detect dimensions of the pathway.
 6. The apparatusof claim 4 wherein the microcontroller receives dimensional inputs ofthe pathway from a global positioning system.
 7. The apparatus of claim1 wherein the microcontroller is programmed to operate the servo and theone or more motors at a given start time.
 8. The apparatus of claim 1wherein the microcontroller receives instructions from an applicationcontrolled via a mobile device.
 9. The apparatus of claim 8 wherein theapplication determines a given start time to operate the servo and theone or more motors based on weather information.
 10. A robot systemcomprising: at least one sensor configured to provide locatinginformation; at least two motors, wherein a first of the at least twomotors is configured for an operational function and a second of the atleast two motors is configured for movement; a processor communicativelycoupled to the at least two motors and the at least one sensor; and amemory having executable instructions stored thereon that when executedby the processor cause the processor to: receive the locatinginformation from the at least one sensor, determine a position of therobot system in an area based on the locating information, and generatefunction path information based on the position, and control the atleast two motors based on the function path information and theposition.
 11. The robot system of claim 10 further comprising theprocessor to determine the position based on an actual position on astored map.
 12. The robot system of claim 11 wherein the stored mapincludes at least one function task associated with at least one areasegment.
 13. The robot system of claim 11 further comprising theprocessor to generate an updated map based on a detection of anobstacle.
 14. The robot system of claim 10 wherein the locatinginformation includes at least one of laser data, sonar data, odometrydata, gyroscope data, and global positioning system data.
 15. The robotsystem of claim 10 further comprising the processor to detect obstaclesin a path of the robot system.
 16. The robot system of claim 15 furthercomprising the processor to: alter operation of the at least two motorsbased on the detection of obstacles; and generate a new function path.17. The robot system of claim 10 wherein the at least one sensorcomprises an obstacle detecting device including one or more lasers anda camera device.
 18. The robot system of claim 10 further comprising theprocessor to: receive information associated with artificial markers,the information including features associated with the artificialmarkers and instructions associated with the features; and control theat least two motors based on the instructions.
 19. The robot system ofclaim 10 further comprising the processor to: detect placement of lightbeams within the area; and generate a new function path the prohibitsthe robot system from passing through the light beams.
 20. The robotsystem of claim 10 further comprising the processor to: receiveinstructions from a client device; and control the at least two motorsbased on the instructions.